Writing a new motion planner
I am writing my own planner , called SplineBasedPlanner . It takes in a set of waypoints, and interpolates them with a special kind of spline (not the ones already implemented by ROS). The spline is designed so that a vehicle ,whose params are specified in config files, can traverse the spline smoothly. I want this to plug into move_base.
However, I am confused about what kind of interface (i.e. API) I should provide to do so. Should SplineBasedPlanner resemble base_local_planner's interface? Or should it be more like TrajectoryPlanner? Are there multiple choices?
I'll be glad to provide more specific information if needed.
Update 1: From responses below , I really want both both local and global versions for the SplineBasedPlanner.